O2 Sensor Location on 96 Grand Cherokee

Does anyone have a link to a diagram of the location on a 1996 Grand Cherokee Larado 4WD O2 sensor?

5.2 & 4.0_ O2 Upstream Sensor is located onthe Exhaust pipe
Downstream O2 is located at the rear of the Catalytic Converter.

As you can tell I'm very mechanical illiterate. My truck failed inspection and the mechanic told me it was due to the O2 sensor. Which would this be? The Upstream Sensor, or the Downstream sensor? Is it possible that I will have to replace more than one 02 sensor?

it would be the one in front of the Catalytic coneverter (upstream) closest to the engine (coming down from the Exhaust Manifold.).

the downstream measures the output of the Cat. Converter (whether it's doing it's JOB - filtering the exhaust and such.)

The upstream measures the exhaust output, whether the engines running rich or lean, etc..

Did your Jeep throw a code? If it wont pass inspection it will usually register as a code and chek engine light should come on. Look on the readout from the inspection and see if they list the sensor.

Thanks for all the help! This is a great site, very envious of your knowledge of this subject.